RaiSim Engine 2

Availability

RaiSim Engine 2 is an internal, closed-source world-authoring tool. It builds RaiSim worlds, for example worlds to train in with RaisimGymTorch, but it does not train policies itself. It is not part of the public raisim2Lib distribution. The public repository does not ship Engine 2 executables, headers, libraries, CMake targets, examples, or tests, so users cannot build or invoke it from raisim2Lib.

The public package boundary is the downloaded RaiSim and rayrai binaries and headers together with the example, wrapper, resource, and documentation sources in raisim2Lib. Engine 2 implementation paths and internal build options are therefore intentionally not documented as user workflows.

Public Alternatives

Use the supported public interfaces instead:

• construct and modify a raisim::World through the C++ or RaisimPy API;

• load RaiSim XML, MJCF, or OpenUSD scenes as documented in World Configuration File and OpenUSD Loading;

• use rayrai Visualizer or Rayrai TCP Viewer for visualization; and

• use RaisimGymTorch for reinforcement-learning training.

.re2 is an internal Engine 2 format. .rscene is the scene file Engine 2 writes. RaiSim and rayrai read it through raisim::World(path) and a raisin::RayraiWindow on that world, available from v2.8.2 (not yet released; v2.8.0 and v2.8.1 read the file and show it with raisin::applyRscene), and show what Engine 2’s viewport shows, except articulated systems, compounds, deformables, granular media, decals, irradiance volumes and point clouds. .rscene File documents the format and the supported records, and Rayrai Example: Forest From .rscene loads a scene file shipped in rsc/forest.